The main purpose of inertial navigation system (INS) alignment is attitude initialization. Alignment precision and alignment time affect the performance of navigation solution directly. Alignment can be static or kinematic. A proper alignment method should be applied to the initial conditions, and meet the requirement of high accuracy and short time. There has been much interest in alignment method in current research works related to the Global Navigation Satellite System (GNSS)/INS or INS initialization, whereas few works focus on the intelligent setting. For the inexperienced beginners, manual setting of the initial alignment method has large difficulty and low success rate, and takes large work load. An improper alignment setting can seriously affect the performance of navigation processing. Therefore, the intelligent setting of alignment for GNSS/INS integration is a concern in our paper. That is, the proper alignment method can be automatically determined by vehicle dynamics auto-detected by analyzing the inertial measurement unit (IMU) and GNSS data, and combining with the grade of inertial navigation system. To verify the feasibility of intelligent judgment, the large amounts of datasets (including different grade systems and dynamics) were processed by GINS, which is newly developed GNSS/INS data processing software, and alignment results were statistical analyzed. The results prove the correctness and reliability of the intelligent judgment of alignment. This work can not only reduce the difficulty for using, and improve the efficiency of data processing, but also ensure the success rate for the beginners, and it can further promote the applicability of the GNSS/INS data processing software.
Study on Intelligent Setting of Initial Alignment for GNSS/INS Integration
2014
14 Seiten
Aufsatz (Konferenz)
Englisch
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